1 // SPDX-License-Identifier: GPL-2.0-only
2 /*
3 * Copyright (C) 2012 Invensense, Inc.
4 */
5
6 #include <linux/pm_runtime.h>
7
8 #include <linux/iio/common/inv_sensors_timestamp.h>
9
10 #include "inv_mpu_iio.h"
11
inv_scan_query_mpu6050(struct iio_dev * indio_dev)12 static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
13 {
14 struct inv_mpu6050_state *st = iio_priv(indio_dev);
15 unsigned int mask;
16
17 /*
18 * If the MPU6050 is just used as a trigger, then the scan mask
19 * is not allocated so we simply enable the temperature channel
20 * as a dummy and bail out.
21 */
22 if (!indio_dev->active_scan_mask) {
23 st->chip_config.temp_fifo_enable = true;
24 return INV_MPU6050_SENSOR_TEMP;
25 }
26
27 st->chip_config.gyro_fifo_enable =
28 test_bit(INV_MPU6050_SCAN_GYRO_X,
29 indio_dev->active_scan_mask) ||
30 test_bit(INV_MPU6050_SCAN_GYRO_Y,
31 indio_dev->active_scan_mask) ||
32 test_bit(INV_MPU6050_SCAN_GYRO_Z,
33 indio_dev->active_scan_mask);
34
35 st->chip_config.accl_fifo_enable =
36 test_bit(INV_MPU6050_SCAN_ACCL_X,
37 indio_dev->active_scan_mask) ||
38 test_bit(INV_MPU6050_SCAN_ACCL_Y,
39 indio_dev->active_scan_mask) ||
40 test_bit(INV_MPU6050_SCAN_ACCL_Z,
41 indio_dev->active_scan_mask);
42
43 st->chip_config.temp_fifo_enable =
44 test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
45
46 mask = 0;
47 if (st->chip_config.gyro_fifo_enable)
48 mask |= INV_MPU6050_SENSOR_GYRO;
49 if (st->chip_config.accl_fifo_enable)
50 mask |= INV_MPU6050_SENSOR_ACCL;
51 if (st->chip_config.temp_fifo_enable)
52 mask |= INV_MPU6050_SENSOR_TEMP;
53
54 return mask;
55 }
56
inv_scan_query_mpu9x50(struct iio_dev * indio_dev)57 static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
58 {
59 struct inv_mpu6050_state *st = iio_priv(indio_dev);
60 unsigned int mask;
61
62 mask = inv_scan_query_mpu6050(indio_dev);
63
64 /* no magnetometer if i2c auxiliary bus is used */
65 if (st->magn_disabled)
66 return mask;
67
68 st->chip_config.magn_fifo_enable =
69 test_bit(INV_MPU9X50_SCAN_MAGN_X,
70 indio_dev->active_scan_mask) ||
71 test_bit(INV_MPU9X50_SCAN_MAGN_Y,
72 indio_dev->active_scan_mask) ||
73 test_bit(INV_MPU9X50_SCAN_MAGN_Z,
74 indio_dev->active_scan_mask);
75 if (st->chip_config.magn_fifo_enable)
76 mask |= INV_MPU6050_SENSOR_MAGN;
77
78 return mask;
79 }
80
inv_scan_query(struct iio_dev * indio_dev)81 static unsigned int inv_scan_query(struct iio_dev *indio_dev)
82 {
83 struct inv_mpu6050_state *st = iio_priv(indio_dev);
84
85 switch (st->chip_type) {
86 case INV_MPU9150:
87 case INV_MPU9250:
88 case INV_MPU9255:
89 return inv_scan_query_mpu9x50(indio_dev);
90 default:
91 return inv_scan_query_mpu6050(indio_dev);
92 }
93 }
94
inv_compute_skip_samples(const struct inv_mpu6050_state * st)95 static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
96 {
97 unsigned int skip_samples = 0;
98
99 /* mag first sample is always not ready, skip it */
100 if (st->chip_config.magn_fifo_enable)
101 skip_samples = 1;
102
103 return skip_samples;
104 }
105
inv_mpu6050_prepare_fifo(struct inv_mpu6050_state * st,bool enable)106 int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
107 {
108 uint8_t d;
109 int ret;
110
111 if (enable) {
112 /* reset timestamping */
113 inv_sensors_timestamp_reset(&st->timestamp);
114 /* reset FIFO */
115 d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
116 ret = regmap_write(st->map, st->reg->user_ctrl, d);
117 if (ret)
118 return ret;
119 /* enable sensor output to FIFO */
120 d = 0;
121 if (st->chip_config.gyro_fifo_enable)
122 d |= INV_MPU6050_BITS_GYRO_OUT;
123 if (st->chip_config.accl_fifo_enable)
124 d |= INV_MPU6050_BIT_ACCEL_OUT;
125 if (st->chip_config.temp_fifo_enable)
126 d |= INV_MPU6050_BIT_TEMP_OUT;
127 if (st->chip_config.magn_fifo_enable)
128 d |= INV_MPU6050_BIT_SLAVE_0;
129 ret = regmap_write(st->map, st->reg->fifo_en, d);
130 if (ret)
131 return ret;
132 /* enable FIFO reading */
133 d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN;
134 ret = regmap_write(st->map, st->reg->user_ctrl, d);
135 if (ret)
136 return ret;
137 /* enable interrupt */
138 ret = regmap_write(st->map, st->reg->int_enable,
139 INV_MPU6050_BIT_DATA_RDY_EN);
140 } else {
141 ret = regmap_write(st->map, st->reg->int_enable, 0);
142 if (ret)
143 return ret;
144 ret = regmap_write(st->map, st->reg->fifo_en, 0);
145 if (ret)
146 return ret;
147 /* restore user_ctrl for disabling FIFO reading */
148 ret = regmap_write(st->map, st->reg->user_ctrl,
149 st->chip_config.user_ctrl);
150 }
151
152 return ret;
153 }
154
155 /**
156 * inv_mpu6050_set_enable() - enable chip functions.
157 * @indio_dev: Device driver instance.
158 * @enable: enable/disable
159 */
inv_mpu6050_set_enable(struct iio_dev * indio_dev,bool enable)160 static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
161 {
162 struct inv_mpu6050_state *st = iio_priv(indio_dev);
163 struct device *pdev = regmap_get_device(st->map);
164 unsigned int scan;
165 int result;
166
167 if (enable) {
168 scan = inv_scan_query(indio_dev);
169 result = pm_runtime_resume_and_get(pdev);
170 if (result)
171 return result;
172 /*
173 * In case autosuspend didn't trigger, turn off first not
174 * required sensors.
175 */
176 result = inv_mpu6050_switch_engine(st, false, ~scan);
177 if (result)
178 goto error_power_off;
179 result = inv_mpu6050_switch_engine(st, true, scan);
180 if (result)
181 goto error_power_off;
182 st->skip_samples = inv_compute_skip_samples(st);
183 result = inv_mpu6050_prepare_fifo(st, true);
184 if (result)
185 goto error_power_off;
186 } else {
187 st->chip_config.gyro_fifo_enable = 0;
188 st->chip_config.accl_fifo_enable = 0;
189 st->chip_config.temp_fifo_enable = 0;
190 st->chip_config.magn_fifo_enable = 0;
191 result = inv_mpu6050_prepare_fifo(st, false);
192 if (result)
193 goto error_power_off;
194 pm_runtime_mark_last_busy(pdev);
195 pm_runtime_put_autosuspend(pdev);
196 }
197
198 return 0;
199
200 error_power_off:
201 pm_runtime_put_autosuspend(pdev);
202 return result;
203 }
204
205 /**
206 * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
207 * @trig: Trigger instance
208 * @state: Desired trigger state
209 */
inv_mpu_data_rdy_trigger_set_state(struct iio_trigger * trig,bool state)210 static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
211 bool state)
212 {
213 struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
214 struct inv_mpu6050_state *st = iio_priv(indio_dev);
215 int result;
216
217 mutex_lock(&st->lock);
218 result = inv_mpu6050_set_enable(indio_dev, state);
219 mutex_unlock(&st->lock);
220
221 return result;
222 }
223
224 static const struct iio_trigger_ops inv_mpu_trigger_ops = {
225 .set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
226 };
227
inv_mpu6050_probe_trigger(struct iio_dev * indio_dev,int irq_type)228 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
229 {
230 int ret;
231 struct inv_mpu6050_state *st = iio_priv(indio_dev);
232
233 st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
234 "%s-dev%d",
235 indio_dev->name,
236 iio_device_id(indio_dev));
237 if (!st->trig)
238 return -ENOMEM;
239
240 ret = devm_request_irq(&indio_dev->dev, st->irq,
241 &iio_trigger_generic_data_rdy_poll,
242 irq_type,
243 "inv_mpu",
244 st->trig);
245 if (ret)
246 return ret;
247
248 st->trig->dev.parent = regmap_get_device(st->map);
249 st->trig->ops = &inv_mpu_trigger_ops;
250 iio_trigger_set_drvdata(st->trig, indio_dev);
251
252 ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
253 if (ret)
254 return ret;
255
256 indio_dev->trig = iio_trigger_get(st->trig);
257
258 return 0;
259 }
260